Cooperative Deconfliction System for Low-Maneuverability Aircraft

The present invention relates generally to autonomous navigation systems, and more specifically to systems and methods for Detect-and-Avoid (DAA) functionality in Unmanned Aerial Systems (UAS) operating near low-maneuverability aircraft (LMA), where the threat trajectory is determined by external meteorological forces.

Conventional Detect-and-Avoid (DAA) systems rely on kinematic models (e.g., constant velocity or constant acceleration) to predict the future position of airborne traffic. These models are effective for actively powered and highly controllable aircraft (e.g., manned aircraft, fixed-wing UAS, helicopters). However, low-maneuverability aircraft, notably hot air balloons, present a unique challenge because their trajectory is passive and primarily governed by unmodeled or semi-modeled environmental factors, specifically wind vectors (W). Applying standard kinematic models to such aircraft results in poor trajectory prediction accuracy, leading to suboptimal or overly aggressive avoidance maneuvers by the host UAS, which creates an unaddressed safety gap.

Furthermore, known DAA systems focus exclusively on external collision risk but fail to integrate the host vehicle's internal health status (Prognostic Health Monitoring, or PHM) into the avoidance calculation, risking mission failure or component damage for an avoidance maneuver that, while externally safe, is internally taxing. The conventional approach is insufficient for safe, long-term autonomous operations where component over-stress or power depletion caused by an aggressive maneuver can lead to mission failure or a crash.

The invention overcomes the limitations of the prior art by providing an integrated, AI-driven Cooperative Deconfliction System (CDS) that effectively manages deconfliction with wind-governed aircraft. The system is installed onboard a host UAS and employs a synergistic, three-step process:

1. Classification: Using a Cross-Modal Geometric Validation (CMGV) pipeline to reliably identify the detected object as a low-maneuverability aircraft (e.g., hot air balloon) based on fused sensor data (e.g., LiDAR geometry and thermal signature).

aero 2. Prediction: Utilizing a specialized Intent Prediction Module that incorporates real-time wind vector data (W) and the aircraft's aerodynamic model (A) to compute a high-fidelity, probabilistic future path, represented as a Cone of Probability (C).

opt 3. Avoidance Planning: Employing a Prognostic-Informed AI Control (PI-AIC) module to formulate an optimal avoidance trajectory (T) by solving a multi-objective optimization problem. This problem is uniquely constrained by the host UAS's current prognostic health status, specifically Remaining Useful Life (RUL) and Remaining Battery Capacity (RBC), ensuring the selected maneuver is both collision-free and survivable for the host UAS.

1 FIG. ensor Subsystem: A suite of sensors including, but not limited to, LiDAR for generating high-fidelity three-dimensional point clouds, a thermal camera for heat signature analysis, and an interface (e.g., an on-board anemometer or a high-bandwidth data link) for receiving real-time, altitude-layered wind vector data (W). Processing Unit: A dedicated, ruggedized AI accelerator or flight controller capable of running machine learning and complex optimization algorithms with low latency. Actuator Subsystem: The flight control system responsible for executing the commands generated by the CDS to perform the calculated avoidance maneuver. The Cooperative Deconfliction System (CDS) is a hardware and software solution implemented within a host Unmanned Aerial System (UAS). As shown in, the CDS utilizes the following subsystems:

1 FIG. The inventive process begins with the Cross-Modal Geometric Validation (CMGV) pipeline (, Block A). This pipeline achieves a high-confidence classification of the threat by fusing data from disparate sensors, which is necessary to correctly identify the object as a low-maneuverability aircraft whose movement must be predicted using the specialized meteorological model.

a) Geometric Criterion: LiDAR data is processed to confirm the presence of a distinct, large, generally spherical or teardrop-shaped envelope structure. b) Thermal Criterion: Thermal imaging data must confirm a characteristic high-temperature signature (e.g., a concentrated heat plume or hot-spot) consistent with a balloon's burner apparatus, localized beneath the envelope structure. For the specific embodiment of a hot air balloon, the system requires a simultaneous match on two distinct criteria to classify the object as such:

This reliable classification step triggers the activation of the specialized Intent Prediction Module.

While the embodiment of a hot air balloon is described using LiDAR and thermal sensors, it is to be understood that the CMGV pipeline may be adapted for other LMAs using various sensor modalities. For example, an unpowered glider or sailplane, which is also an LMA, might be classified by fusing LiDAR-derived geometry (long, thin wing and fuselage structure) with the absence of a thermal signature consistent with an engine. Other LMAs, such as parasails or unpowered drones, may be classified using different fused sensor logic, such as combinations of radar cross-section, acoustic signatures, or visual-based shape recognition processing.

1 FIG. 2 FIG. obs 4. Observed position, velocity, and altitude of the balloon (X). 5. Real-time wind vector data (W) across relevant altitude layers. aero 6. A parameterized model of the hot air balloon's aerodynamic properties, including drag and lift coefficients (A). Once the threat is classified as a low-maneuverability, wind-governed aircraft, the specialized Intent Prediction Module is activated (, Block B), replacing conventional kinematic prediction. As shown in, the module receives:

The module computes the balloon's most probable future path (P) over a defined time horizon (ΔT) using a meteorological-kinematic model.

obs The critical output is a three-dimensional Cone of Probability (C). The C is a mathematically defined volume of airspace that represents the probability distribution of the balloon's location throughout the time horizon ΔT. The volume and density of C are directly influenced by the spatial and temporal variability (i.e., the uncertainty) of the input wind vectors (W) and the observed uncertainty in the balloon's current state (X). This quantification of risk allows the control system to avoid the probabilistic hazard volume rather than just a deterministic, potentially inaccurate, point prediction.

To further satisfy the enablement requirement of 35 U.S.C. § 112(a), the meteorological-kinematic model may be implemented, for example, by propagating the LMA's state forward in time using a physics-based model. An exemplary, non-limiting model may be expressed as:

vector aero where the uncertainty in Wand Adirectly informs the volume and divergence of the resulting Cone of Probability C.

1 FIG. 3 FIG. opt The predicted collision hazard (C) is passed to the Prognostic-Informed AI Control (PI-AIC) module (, Block C). As detailed in the flow chart of, the PI-AIC module formulates a constrained multi-objective optimization problem to determine the optimal avoidance trajectory (T) for the host UAS.

The PI-AIC module seeks to minimize a Cost Function ( ), which is defined to prioritize collision avoidance while maintaining efficiency:

collision Crepresents the risk of intersection between the host UAS's potential trajectory (T) and the balloon's probability cone (C). collision energy time The weighting factor Lis assigned a value significantly higher than Land Lto ensure collision risk minimization is the dominant objective. energy time Cand Crepresent the costs associated with the required energy consumption and the time required to achieve safe separation, respectively. Where:

Prognostic Health Constraint (PHC): Crucially, the optimization is subject to the Prognostic Health Constraint. The module interacts with a prognostic health monitoring (PHM) subsystem to obtain real-time health metrics of the host UAS, including: Remaining Useful Life (RUL) of critical components and Remaining Battery Capacity (RBC).

opt The PHM subsystem utilizes a predictive model that estimates the transient change in component degradation and energy draw resulting from executing the specific, high-stress load of the hypothetical maneuver T. This predictive calculation of the instantaneous load, which differs from traditional long-term PHM forecasting, feeds the constraint.

opt m The optimal trajectory (T) is only considered feasible if its execution maintains the predicted health metrics above a predetermined, application-specific Safety Margin (S). The constraint is mathematically expressed as:

m m m m Exemplary SCalculation: To satisfy enablement (35 U.S.C. § 112(a)), the Safety Margin (S) determination must be defined relative to the mission objectives. For RBC, Smay be set to guarantee a 10% reserve capacity post-maneuver, ensuring sufficient power remains for routine operations or diversion. For RUL, Sis calculated to ensure the predicted life consumption from the high-stress maneuver does not drop the component's expected remaining life below the minimum required to safely complete the current mission or return to a designated recovery location.

This novel constraint prevents the selection of an externally safe maneuver that would necessitate an energy expenditure or component stress level leading to a high probability of internal UAS failure, thereby ensuring long-term operational survivability.